JP2020017111A - Work measurement device, work measurement method and program - Google Patents

Abstract

To reduce a workload required for measuring work.SOLUTION: A work measurement device 1 of the present invention comprises: a display unit 15 displaying a work image; a measurement object acquisition unit 11c receiving designation of a measurement object for the work image, and detecting a measurement object structure corresponding to the designated measurement object; a measurement item setting unit 11d receiving designation of a measurement item for the work image; and a measurement program generation unit 11e generating, for the measurement object structure, a measurement program in which a measurement point and an approach point corresponding to the measurement item specified by the measurement item setting unit 11d, and a measurement route including the measurement point and the approach point are set.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a work measuring device, a work measuring method, and a program.

2. Description of the Related Art Conventionally, there has been known a technique of measuring a work to be processed for the purpose of performing processing by a machine tool.
When measuring a workpiece, a measurement method using a touch sensor (touch probe) or laser sensor generally has the advantage of high resolution and accuracy, but the range that can be measured at once is narrow, and the measurement time is short. There is a disadvantage that it becomes longer. Further, for example, when measurement is performed using a touch sensor, the operator manually moves the touch sensor, which requires a large work load on the operator so as not to damage the work or the touch sensor.
In order to reduce such a work load, a mechanism is known that automatically generates a measurement program for moving a touch sensor when coordinates of a measurement point or an approach point are input. However, grasping and inputting the coordinates of such a plurality of points while considering the coordinate system still requires a large work load for the operator.
On the other hand, a method of measuring the shape and position of a work using images acquired by a visual sensor or the like generally has the advantage of being able to measure a wide range in a short time, but from the viewpoint of measurement resolution and repetition accuracy, There is a demerit that it is not practical when used for setup of machining, such as setting of a coordinate system.
In order to solve such a problem, a work measurement method has been devised in which a work image is combined with a measurement method using a touch sensor or a laser sensor, thereby compensating for both disadvantages.
For example, in Patent Literature 1, a work image acquired by a visual sensor is displayed on a display, a user specifies a measurement point or an approach point on the image by a touch operation, and automatic measurement by a touch probe is performed based on the coordinates of the point. A method for generating a program is disclosed.

JP2018-018155

  However, the technique described in Patent Document 1 requires knowledge and experience regarding setting of measurement points and approach points, and complicated procedures for setting a large number of measurement points, approach points, directions, and the like depending on the measurement target. It may be. For this reason, if the measurement target can be intuitively specified with a smaller number of operations, higher convenience can be realized.

  An object of the present invention is to reduce a work load required for measuring a work.

(1) A work measuring device (for example, a work measuring device 1 to be described later) of the present invention includes a display unit (for example, a display unit 15 to be described later) for displaying an image of a work and a designation of a measurement target for the image of the work. A measurement target specification unit (for example, a measurement target acquisition unit 11c to be described later) to be received, and a structure detection unit (for example, a measurement target acquisition unit to be described later) that detects a measurement target structure corresponding to the measurement target specified by the measurement target specification unit 11c), a measurement item specification unit (for example, a measurement item setting unit 11d described later) that receives specification of a measurement item for the image of the work, and a measurement specified by the measurement item specification unit for the measurement target structure. A measurement program for generating a measurement program in which measurement points and approach points corresponding to items and a measurement path including the measurement points and approach points are set. Generating unit (for example, measurement program generating unit 11e will be described later), characterized in that it comprises a a.

(2) In the work measuring apparatus according to (1), a measurement path display unit (for example, a measurement path display unit that displays the measurement points and approach points set in the measurement program and the measurement paths including the measurement points and approach points). A UI display control unit 11a) described later may be provided.

(3) In the work measuring device according to (2), a modification may be made to the measurement point and the approach point displayed by the measurement path display unit and to the measurement path including the measurement point and the approach point.

(4) In the work measuring device of (1) to (3), a measurement program execution unit (for example, a measurement program execution unit that executes the measurement program by moving a detector along the measurement path set in the measurement program) , A measurement program execution unit 11f) to be described later.

(5) In the work measuring apparatus according to any one of (1) to (4), the measurement program generation unit performs the measurement according to the type of the measurement target structure and a template program corresponding to the measurement item in accordance with the measurement target structure. The measurement program may be generated by setting points and approach points.

(6) In the work measuring device according to any one of (1) to (5), the measurement item designation unit may rank and display measurement item candidates for the measurement target structure.

(7) In the work measuring device according to any one of (1) to (6), the image of the work may be at least one of a two-dimensional or three-dimensional captured image of the work and an image of CAD data of the work. Good.

(8) In the work measuring device according to any one of (1) to (7), the detector may include at least one of a touch probe and a laser sensor.

(9) In the work measuring method of the present invention, a display step of displaying an image of the work, a measurement target specifying step of receiving a specification of a measurement target for the image of the work, and a measurement specified in the measurement target specifying step A structure detection step of detecting a measurement target structure corresponding to the target; a measurement item designation step of receiving designation of a measurement item for the measurement target structure detected in the structure detection step; A measurement program generation step of generating a measurement program in which measurement points and approach points corresponding to the measurement items specified in the item specification step and a measurement path including the measurement points and approach points are set. And

(10) Further, the program of the present invention is specified by a display control function of displaying an image of a work on a computer, a measurement target designating function for receiving designation of a measurement target for the work image, and a measurement target designating function. A structure detection function for detecting a measurement target structure corresponding to the measurement target, a measurement item specification function for receiving designation of a measurement item for the measurement target structure detected by the structure detection function, and, for the measurement target structure, A measurement program generation function for generating a measurement program in which measurement points and approach points corresponding to the measurement items specified by the measurement item specification function and a measurement path including the measurement points and approach points are set is realized. It is characterized by the following.

  According to the present invention, it is possible to reduce the work load required for measuring a work.

It is a block diagram showing composition of a work measuring device concerning one embodiment of the present invention. FIG. 9 is a schematic diagram illustrating an example of an operation performed on an input screen for specifying a measurement target. FIG. 9 is a schematic diagram illustrating an example of an operation performed on an input screen for specifying a measurement target. FIG. 9 is a schematic diagram illustrating an example of an operation performed on an input screen for specifying a measurement target. FIG. 9 is a schematic diagram illustrating an example of an operation performed on an input screen for specifying a measurement target. FIG. 9 is a schematic diagram illustrating an example of an operation performed on an input screen for specifying a measurement target. It is a schematic diagram which shows an example of the process which extracts a structure (three-dimensional shape) according to the operation for the specification which the user input. It is a schematic diagram which shows an example of the process which extracts a structure (three-dimensional shape) according to the operation for the specification which the user input. It is a schematic diagram which shows an example of the process which extracts a structure (three-dimensional shape) according to the operation for the specification which the user input. It is a schematic diagram which shows an example of the process which extracts a structure (three-dimensional shape) according to the operation for the specification which the user input. It is a schematic diagram showing conversion from a coordinate system of a display to a machine coordinate system. It is a schematic diagram which shows the process in which the measurement item with respect to the structure of a measurement target is set. It is a schematic diagram which shows the concept in which a measurement program is automatically generated from a model program. It is a schematic diagram which shows the state in which the measurement point and approach point in the case of centering of a rectangular parallelepiped are set. It is a schematic diagram which shows the state in which the order was attached to the approach point. It is a schematic diagram which shows the state where the path | route which connects approach points is set. It is a schematic diagram which shows the state in which the approach point in the case of measuring the inside diameter of a hole is set. It is a schematic diagram which shows the state in which the measurement point was set when the inside diameter measurement of a hole is performed. 9 is a flowchart illustrating a flow of a measurement program generation process executed by the work measurement device.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[Constitution]
FIG. 1 is a block diagram showing a configuration of a work measuring device 1 according to one embodiment of the present invention.
The work measuring device 1 is configured by an information processing device such as a numerical control device or a PC (Personal Computer).
As shown in FIG. 1, the work measuring device 1 includes a CPU (Central Processing Unit) 11, a ROM 12, a RAM 13, an input unit 14, a display unit 15, a storage unit 16, a communication unit 17, and a visual sensor. 18 and a detector 19.

The CPU 11 controls the entire work measuring device 1 by executing various programs stored in the storage unit 16. For example, the CPU 11 executes a program for processing for automatically generating a program for measuring a work (hereinafter, also referred to as “measurement program generation processing”).
By executing the program for the measurement program generation processing, the CPU 11 provides the UI display control unit 11a, the image acquisition unit 11b, the measurement target acquisition unit 11c, the measurement item setting unit 11d as a functional configuration. A measurement program generation unit 11e and a measurement program execution unit 11f are formed.

<UI display control unit 11a>
The UI display control unit 11a displays a user interface screen (UI screen) for the user to input and output various information in the measurement program generation processing.
For example, as described later, the UI display control unit 11a displays an input screen for receiving an instruction to acquire an image of a work to be measured, and specifies an object to be measured in the acquired image of the work. Displays an input screen or displays the detection result of a specified measurement target.
Further, the UI display control unit 11a displays an input screen for accepting selection from among the measurement item candidates, and displays an input screen for setting an approach point or a measurement point for measuring a workpiece. Or display an input screen for correcting a program for measuring an automatically generated workpiece.
When an input is performed in the UI display control unit 11a, an input by a mouse, a keyboard, a touch operation, or the like can be accepted. For example, in addition to various input forms by touch operation, drawing an enclosing line with the direction keys of the keyboard, drawing a rectangular range by dragging with the mouse, drawing a point with the enter key of the keyboard or clicking the mouse. And so on.

<Image acquisition unit 11b>
The image acquisition unit 11b is a three-dimensional shape of the work such as image data of the work captured by the visual sensor 18 (a depth camera or a stereo camera or the like) or CAD data of the work generated in a CAD (Computer Aided Design) system. Obtain image data including. The image acquisition unit 11b stores the acquired image data of the work in the storage unit 16.

<Measurement target acquisition unit 11c>
The measurement target acquisition unit 11c acquires the operation content for the specification input by the user on the input screen for specifying the measurement target displayed on the UI screen by the UI display control unit 11a.
Then, the measurement target acquisition unit 11c specifies a portion to be measured in the work image in accordance with the operation content for the specification input by the user, and detects a structure (three-dimensional shape) of the specified portion. .
Further, the measurement target acquisition unit 11c converts the detected structure from a planar coordinate system (image coordinate system) of the display to a three-dimensional coordinate system (mechanical coordinate system) on the stage on which the work is placed. The image coordinate system and the machine coordinate system are calibrated in advance and corresponded. At this time, the coordinate system of the camera may be used instead of the plane coordinate system (image coordinate system) of the display.
Next, the details of the detection process of the measurement target acquisition unit 11c will be described more specifically with reference to FIGS.

2 to 6 are schematic diagrams illustrating an example of an operation performed on an input screen for specifying a measurement target.
In the example illustrated in FIG. 2, straight lines along the left and right sides of the image of the work are input as the operation contents for the specification input by the user in the image of the work to be measured. In the example shown in FIG. 2, the measurement target acquisition unit 11c specifies that the user intends to measure the width of the work.
In the example illustrated in FIG. 3, a circle surrounding a hole formed in the work is input as an operation content for the designation input by the user in the image of the work to be measured. In the example shown in FIG. 3, the measurement target acquisition unit 11c specifies that the user intends to measure the inner diameter of a hole formed in the work.

In the example illustrated in FIG. 4, a circle surrounding the entire work image in the work image to be measured is input as the operation content for the designation input by the user. In the case of the example shown in FIG. 4, for example, the user intends to center the work (set the origin).
Further, in the example shown in FIG. 5, in the image of the work to be measured, a diagonal line is designated and a rectangle surrounding the entire image of the work is input. In the case of the example illustrated in FIG. 5, the measurement target acquisition unit 11c specifies that the user intends to center the work (set the origin).

In the example shown in FIG. 6, a point in the area of the work is specified in the image of the work to be measured as the operation content for the specification input by the user. In the case of the example illustrated in FIG. 6, the measurement target acquisition unit 11c specifies that the user intends to center the work (set the origin).
In the examples shown in FIGS. 4 to 6, the measurement target acquisition unit 11c extracts the contour of the work, and when the contour is a two-dimensional square, measures the four vertices and the four vertices to determine the center point of the work. Ask for.

7 to 10 are schematic diagrams illustrating an example of a process in which the measurement target acquisition unit 11c extracts a structure (three-dimensional shape) in response to an operation for designation input by a user.
In the example illustrated in FIG. 7, as illustrated in FIG. 2, when the user inputs straight lines along the left and right sides of the image of the workpiece, the measurement target acquisition unit 11c determines whether each segment (input portion) has After setting a neighboring area and extracting a contour from the inside by the Canny method, two straight lines (left and right outer edges of the work) are detected from the extracted contour by Hough transform. When the contour is extracted as shown in FIG. 7, for example, if the contour is on the left, the pixel on the right has a convex value when viewed from the distance image if the contour is on the left. Alternatively, it can be determined that there is an object on the right side of the outline based on the fact that the object is placed on the right side in the background difference.

In the example illustrated in FIG. 8, when the user inputs a circle surrounding the hole formed in the work as illustrated in FIG. 3, the measurement target acquisition unit 11c sets the circle to surround the hole formed in the work. A contour line is extracted from the inside by the snake method, and a circle (hole) is detected from the extracted contour line by Hough transform.
In the example illustrated in FIG. 9, when the user inputs a circle or a rectangle surrounding the entire image of the work as illustrated in FIG. 4 or 5, the measurement target acquisition unit 11 c sets the circle surrounding the entire image of the work. Alternatively, a contour line is extracted from the inside of the rectangle by the snake method, and four straight lines are detected by the Hough transform from the extracted contour lines, and a quadrangle (up, down, left, right, and right and left of the workpiece) is detected based on the detected four straight lines. (Outer edge).

  In the example illustrated in FIG. 10, when a point in the area of the work is specified by the user as illustrated in FIG. 6, the measurement target acquisition unit 11c determines the specified point from the point in the area of the specified work. Is extracted, and an area of a color close to the vicinity of the designated point is extracted by the area extension method. Then, the measurement target acquisition unit 11c extracts a contour line by the snake method, detects four straight lines from the extracted contour line by Hough transform, and, based on the detected four straight lines, forms a square (workpiece). (Upper, lower, left and right outer edges).

  In the above example, the structure extraction is performed by a two-stage process of first extracting a contour by the snake method or the Canny method, and then detecting a circle or a straight line by the Hough transform. Absent. Since the extraction of the contour by the snake method or the Canny method is performed as preprocessing for reducing false detection at the time of the Hough transform, the extraction of the contour by the snake method or the Canny method may be skipped.

  9 and 10, the measurement target acquisition unit 11c extracts a measurable item such as the center or area of the rectangle when presenting the measurement item to the user by extracting a rectangle representing the outline of the work. It is possible to squeeze and pick up. Also, the measurement target acquisition unit 11c does not manage the four extracted line segments individually, but uses topology information that “the contour forms a closed figure called a rectangle”, for example, by using a rectangle. Can be determined from the positional relationship between the center of the line segment and the line segment. By doing so, the measurement item setting unit 11d can be used as auxiliary information for setting the direction in which the touch probe is moved at the time of measurement, as described later.

FIG. 11 is a schematic diagram showing the conversion from the display coordinate system to the machine coordinate system.
As illustrated in FIG. 11, the measurement target acquisition unit 11c sets the plane coordinates (image coordinates) of the display of the structure (the left and right outer edges of the work, the holes, the upper, lower, left and right outer edges of the work) detected as the measurement target on the stage. Convert to the above solid coordinates (machine coordinates).
Thus, the measurement target acquisition unit 11c can acquire position information on the substantial three-dimensional shape of the measurement target specified on the UI screen by the user.

<Measurement item setting section 11d>
The measurement item setting unit 11d refers to a database (the measurement item database 16a of the storage unit 16) in which the types of the measurement items are defined, and performs the measurement performed on the measurement target structure detected by the measurement target acquisition unit 11c. Set the items.
The measurement item setting unit 11d can be selected as a measurement item by referring to past measurement history information (the measurement history database 16b of the storage unit 16) based on the measurement target structure detected by the measurement target acquisition unit 11c. List the items (measurement item candidates).

The measurement item setting unit 11d ranks the listed measurement item candidates. More specifically, the measurement item setting unit 11d refers to the type and shape of the structure, the processing status (before processing, during processing, and after processing), the content of the processing program, the past measurement history, and the like, and lists the measured measurements. Rank candidate items. The measurement item candidates ranked by the measurement item setting unit 11d are displayed on the UI screen in the rank order by the UI display control unit 11a, and the selection by the user is accepted.
The process of setting the measurement item for the structure to be measured by the measurement item setting unit 11d will be described more specifically with reference to FIG.

FIG. 12 is a schematic diagram illustrating a process of setting measurement items for a structure to be measured.
As shown in FIG. 12, when a structure to be measured is detected by the measurement target acquisition unit 11c, the measurement item setting unit 11d refers to the measurement history database 16b of the storage unit 16 and can be selected as a measurement item. List the items (measurement item candidates).
In the example illustrated in FIG. 12, when the left and right outer edges of the work are detected by the measurement target acquisition unit 11c, the measurement item setting unit 11d sets “center of gravity”, “side length”, and “width” as measurement item candidates. Make a list.
When the measurement object acquisition unit 11c detects the upper, lower, left, and right outer edges of the work, the measurement item setting unit 11d sets “perimeter”, “area”, “centering”, and “volume” as measurement item candidates. As a list.
In addition, as shown in FIG. 12, the measurement item setting unit 11d lists in the past measurement history by referring to the frequency of the measurement item executed in the case of the same measurement target as the current measurement target. Rank the candidates for the measurement item that was selected.
In the example illustrated in FIG. 12, when the left and right outer edges of the workpiece are detected by the measurement target acquisition unit 11c, the measurement item setting unit 11d determines that the inside of the line segment is convex, Because the outside of the minute is concave, the number of segments is 2, and in the past measurement history of the same measurement target structure, "the measurement of the width of the work was 50%," The candidates are ranked in the order of “width”, “center of gravity”, and “side length”.
When the measurement object acquisition unit 11c detects the upper, lower, left, and right outer edges of the work, the measurement item setting unit 11d determines that “the inside of the line segment is convex” and “the outside of the line segment is Since the number of segments is 1 and the number of segments is 1, and in the past measurement history of a similar structure to be measured, "the centering of the work was 30%," Out, "volume," and "perimeter."
Then, as shown in FIG. 12, the ranked measurement item candidates are displayed on the UI screen in the rank order by the UI display control unit 11a, and the user's selection is accepted.
In the example shown in FIG. 12, when the left and right outer edges of the work are detected, the user selects “width” from “width”, “centroid”, and “side length” listed as measurement item candidates. Have been. In the example shown in FIG. 12, when the upper, lower, left, and right outer edges of the work are detected, the user selects “centering”, “volume”, and “perimeter” listed as measurement item candidates. "Centering" is selected.

<Measurement program generator 11e>
When a measurement item is selected by the user, the measurement program generation unit 11e sets a predetermined number of approach points and measurement points according to the selected measurement item.
The measurement program generation unit 11 e can acquire a model program (hereinafter, referred to as a “model program”) corresponding to the measurement target and the selected measurement item from the model program database 16 c of the storage unit 16. In the template program, a setting policy of measurement points and approach points corresponding to various measurement items is set in advance.
The measurement program generation unit 11e sets measurement points and approach points of the template program based on the specific structure of the structure to be measured detected by the measurement target acquisition unit 11c. Further, the measurement program generation unit 11e automatically generates a measurement path connecting the approach points and a measurement path from the approach point to the measurement point based on a predetermined setting policy. By doing so, a program (measurement program) for measuring the measurement target is automatically generated.
By simulating the measurement program automatically generated by the measurement program generation unit 11e, the approach point, the measurement point, and the measurement path of the measurement program are displayed on the UI screen by the UI display control unit 11a.
In addition, the measurement program generation unit 11e uses the measurement point and approach point and the measurement path based on the specific structure of the measurement target structure detected by the measurement target acquisition unit 11c without using a template program. Can also be set.
The details of the measurement program generation processing of the measurement program generation unit 11e will be described more specifically with reference to FIG.

FIG. 13 is a schematic diagram illustrating the concept of automatically generating a measurement program from a template program by the measurement program generation unit 11e.
As shown in FIG. 13, a template program corresponding to the shape of the workpiece is registered in the template program database 16c of the storage unit 16 in advance. For example, a model that measures one point at a time from four sides of a rectangular parallelepiped, a model that measures one point at a time from three sides of a triangular prism, and a probe that moves outward from the center of a circle to measure the inner diameter of a cylinder. A model and the like are registered.
For example, in the case of a rectangular parallelepiped model, these models expand and contract as shown in FIG. 13 depending on the position of the approach point. That is, only the topology such as the order of approach points and the moving direction of the probe is registered as a model in the model program database 16c, and the measurement program generation unit 11e substitutes actual values for approach points in the model program. , Generate a measurement program.

Further, when an input for correction by the user is performed on the source list of the measurement program displayed on the UI screen, the measurement program generation unit 11e reflects the input correction on the measurement program.
The UI display control unit 11a displays the modified approach point, measurement point, and measurement path on the UI screen by simulating the measurement program in which the correction by the user is reflected. When the measurement point and the measurement path displayed on the UI screen are approved by the user, the measurement program based on the approved approach point, measurement point, and measurement path is determined.

<Measurement program execution unit 11f>
The measurement program execution unit 11f executes the measurement program (determined measurement program) generated by the measurement program generation unit 11e, and moves the detector 19 (touch probe, laser sensor, or the like) to measure the measurement target. Execute
In the above, the functional blocks formed in the CPU 11 by executing the program for the measurement program generation processing in the work measuring device 1 have been described. Next, other components included in the workpiece measuring device 1 will be described with reference to FIG.

Various system programs for controlling the work measuring device 1 are written in the ROM 12 in advance.
The RAM 13 is configured by a semiconductor memory such as a DRAM (Dynamic Random Access Memory), and stores data generated when the CPU 11 executes various processes.
The input unit 14 is configured by an input device such as a keyboard, a mouse, or a touch sensor (touch panel), and receives input of various information to the work measuring device 1 by a user.

The display unit 15 is configured by a display device such as an LCD (Liquid Crystal Display) and displays various processing results of the work measuring device 1.
The storage unit 16 is configured by a non-volatile storage device such as a hard disk or a flash memory, and stores a program for a measurement program generation process and the like. As described above, the storage unit 16 includes a measurement item database (measurement item DB) 16a in which types of measurement items are defined, a measurement history database (measurement history DB) 16b in which past measurement histories are stored, and And a model program database (model program DB) 16c storing a model of the measurement program. Further, the storage unit 16 stores various processing results of the work measuring apparatus 1, such as the determined measurement program and the execution result of the measurement program.

  The communication unit 17 includes a communication interface that performs signal processing based on a predetermined communication standard such as a wired or wireless LAN or USB, and controls communication performed by the work measuring device 1 with another device.

The visual sensor 18 includes an imaging device such as a depth camera or a stereo camera that captures a three-dimensional image, and captures a three-dimensional image of a work to be measured. Note that the visual sensor 18 may include an imaging device that captures a two-dimensional image of the work.
The detector 19 includes a touch probe, a laser sensor, or the like, and detects a position of a point on a work to be measured.

<Specific application example>
Next, with reference to FIGS. 14 to 18, a measurement program for centering the workpiece before processing and a measurement program for measuring the inner diameter of a hole formed in the workpiece after processing by the workpiece measuring device 1. A specific case in which is automatically generated will be described.
[Specific application example 1]
<Measurement program for centering>
First, a procedure for automatically generating a measurement program for centering a workpiece before processing will be described with reference to FIGS. 14 to 16.
In this example, a measurement program for centering (three-dimensional) a workpiece before processing is automatically generated on the assumption that a rectangular parallelepiped is applied as a measurement target object, and a workpiece is imaged from directly above with a three-dimensional camera as an imaging condition. .

In this case, a measurement program is automatically generated by the following procedure.
(Procedure 1) On the input screen for specifying the measurement target displayed on the UI screen by the UI display control unit 11a, the user specifies the measurement target (square) by the surrounding operation shown in FIG.
(Procedure 2) The measurement target acquisition unit 11c extracts a square from the measurement target specified by the surrounding operation by image processing (for example, Hough transform, snake method, or the like).

(Procedure 3) The measurement item setting unit 11d refers to the past measurement history information (the measurement history database 16b of the storage unit 16) based on the measurement target structure detected by the measurement target acquisition unit 11c, and is selected. List the measurement items to be obtained.
More specifically, the measurement item setting unit 11d narrows down and ranks the measurement items that can be selected using the following conditions.
Work shape (for example, the extraction rectangle is a rectangular parallelepiped protruding from its surroundings in the Z direction)
・ Work condition (for example, before processing)
・ Contents of the machining program (for example, the outer surface of the work must be cut)
・ Past measurement history (for example, when “outside the object” and “square” are “enclosed and specified” before “processing”, 80% of the measurement was centering measurement, etc.)

(Step 4) The user selects “centering” from the measurement item candidates listed by the measurement item setting unit 11d.
(Procedure 5) The measurement program generation unit 11e sets five measurement points at the center of each of the five surfaces of the rectangular parallelepiped, and sets five approach points at positions separated from the measurement points by a certain distance in the normal direction of the surface. . Here, the height in the Z direction of the center of the measurement surface is obtained as, for example, a value obtained by adding the outer height and the inner height of a rectangular edge obtained by a three-dimensional camera and dividing by two. The height in the Z direction may be obtained by imaging with a three-dimensional camera, may be calculated from a work processing program, may be obtained from CAD data of the work, or may be obtained from a two-dimensional camera image. May be obtained from the size of the object.

FIG. 14 is a schematic diagram showing a state where measurement points and approach points are set when the rectangular parallelepiped is centered.
By performing the procedure 5, a measurement point and an approach point as shown in FIG. 14 are set.
In the template program for centering a rectangular parallelepiped, a setting policy of measurement points and approach points as shown in FIG. 14 is predetermined for a template of a rectangular parallelepiped to be measured. Therefore, when using the model program, the measurement program generation unit 11e can easily set the measurement points and the approach points.

(Step 6) The measurement program generation unit 11e generates a measurement path connecting the approach points as follows.
-The approach point closest in linear distance from the current touch probe position (initial position) is set as the first approach point.
-The approach point closest in linear distance from the first approach point is defined as the second approach point, and similarly, all approach points are numbered in the same manner.
-Connect the Nth and (N + 1) th approach points and generate a route that does not touch the object (where N is a natural number).

FIG. 15 is a schematic diagram showing a state in which approach points are numbered.
FIG. 16 is a schematic diagram showing a state in which a route connecting the approach points is set. FIG. 16 shows an example in which a route is set in two forms when setting a measurement route: (A) a case where a fixed distance is maintained from a measurement target; and (B) a case where the shortest route between approach points is aimed at. I have. When setting a route aiming at the shortest route between approach points, it is necessary to secure a margin at least for the radius of the probe from the measurement target.

(Step 7) The measurement program generation unit 11e generates a measurement path from the approach point to the measurement point as follows.
・ Move the probe according to the straight line connected from the approach point to the measurement point. When the probe comes into contact with the work, return to the approach point.

[Specific application example 2]
<Measurement program for measuring the inner diameter of the hole formed in the processed workpiece>
Next, an example in which a measurement program for measuring the inner diameter of a hole formed in a processed workpiece is automatically generated will be described with reference to FIGS. 17 and 18.
In this example, a rectangular parallelepiped is applied as an object to be measured, and a workpiece is imaged from directly above with a three-dimensional camera as an imaging condition.

In this case, a measurement program is automatically generated by the following procedure.
(Procedure 1) On the input screen for specifying the measurement target displayed on the UI screen by the UI display control unit 11a, the user specifies the measurement target (hole circle) by the surrounding operation (see FIG. 3).
(Step 2) The measurement target acquisition unit 11c extracts a circle from the measurement target specified by the surrounding operation by image processing (for example, Hough transform, snake method, or the like).

(Procedure 3) The measurement item setting unit 11d refers to the past measurement history information (the measurement history database 16b of the storage unit 16) based on the measurement target structure detected by the measurement target acquisition unit 11c, and is selected. List the measurement items to be obtained.
Work shape (for example, the extraction rectangle is a rectangular parallelepiped protruding from its surroundings in the Z direction)
・ Work condition (for example, after processing)
・ Contents of machining program (for example, drilling a workpiece)
・ Past measurement history (for example, if “after processing”, “inside an object” and “circle” are “enclosed”, 70% of inner diameter measurement is performed)

(Step 4) The user selects “inner diameter” from the measurement item candidates listed by the measurement item setting unit 11d.
(Procedure 5) The measurement program generation unit 11e sets an approach point at the center of the circle. Here, the height of the approach point in the Z direction is obtained as a value obtained by adding the heights of the outer and inner portions of the edge of the circle extracted from the image by the three-dimensional camera and dividing the sum by two.

FIG. 17 is a schematic diagram illustrating a state where approach points are set when the inner diameter of a hole is measured.
By performing the procedure 5, as shown in FIG. 17, the approach point is set at the center of the circle and at the height in the Z direction according to the setting policy.

(Procedure 6) The measurement program generation unit 11e sets, as measurement points, three intersections of a straight line drawn in the machine coordinate system from the approach point in the directions of 0 °, 120 °, and 240 ° and the hole circle. .
FIG. 18 is a schematic diagram showing a state where measurement points are set when the inner diameter of a hole is measured.
By performing step 6, as shown in FIG. 18, measurement points are set at positions on the circumference of 0, 120, and 240 degrees in the machine coordinate system from the approach point set at the center of the circle. You.

(Step 7) The measurement program generation unit 11e generates a measurement path from the approach point to the measurement point as follows.
-Move the probe according to the straight line connected from the approach point to the measurement point. When the probe comes into contact with the work, return to the approach point and move to the next measurement point.
-Or, move the probe according to the straight line connected from the approach point to the first measurement point, and when the probe comes into contact with the workpiece, move directly to the next measurement point.
The measurement program generation unit 11e can set the pattern in which the measurement path is generated by switching the mode or the like.
The embodiment of each functional unit of the work measuring device 1 according to the present invention has been described based on the configuration of the work measuring device 1.

Next, a processing flow of the work measuring device 1 will be described with reference to FIG.
<Measurement program generation processing>
FIG. 19 is a flowchart illustrating a flow of a measurement program generation process executed by the work measurement device 1.
The measurement program generation process is started when an instruction to start the measurement program generation process is input via the input unit 14.

In step S1, the UI display control unit 11a displays a user interface screen (UI screen) for the user to input and output various information in the measurement program generation processing.
In step S2, the image acquisition unit 11b outputs a work image data such as image data of a work imaged by the visual sensor 18 (a depth camera or a stereo camera or the like) or CAD data of a work generated in a CAD (Computer Aided Design) system. The image data including the three-dimensional shape is acquired. The image data of the work acquired at this time is stored in the storage unit 16.
In step S3, the UI display control unit 11a displays an input screen for designating a measurement target in the acquired work image.

In step S4, the UI display control unit 11a acquires the operation content for the specification input by the user on the input screen for specifying the measurement target.
In step S5, the measurement target acquisition unit 11c specifies a portion to be measured in the image of the work in accordance with the operation content for specification input by the user, and specifies a structure (three-dimensional shape) of the specified portion. To detect.

In step S6, the measurement target acquisition unit 11c converts the detected structure from the planar coordinate system (image coordinate system) of the display to the three-dimensional coordinate system (machine coordinate system) on the stage on which the work is placed.
In step S7, the measurement item setting unit 11d refers to the past measurement history (the measurement history database 16b of the storage unit 16) based on the measurement target structure detected by the measurement target acquisition unit 11c, and sets the measurement item as a measurement item. List items that can be selected (candidates for measurement items).

In step S8, the measurement item setting unit 11d ranks the listed measurement item candidates based on past measurement histories and the like.
In step S9, the UI display control unit 11a displays the measurement item candidates ranked by the measurement item setting unit 11d on the UI screen in the order of rank.
In step S10, the UI display control unit 11a displays an input screen for accepting a selection from among the measurement item candidates, and accepts a selection by the user.

In step S11, the measurement program generator 11e sets a predetermined number of approach points and measurement points according to the measurement item selected by the user.
In step S12, the measurement program generation unit 11e sets approach points and measurement points of the template program according to the specific structure of the structure to be measured.
In step S13, the measurement program generation unit 11e automatically generates a measurement path connecting the approach points and a measurement path from the approach point to the measurement point based on a predetermined setting policy. In the measurement program generated in this way, the approach point, the measurement point, and the measurement path are displayed on the UI screen by the UI display control unit 11a.
In step S11 to step S13, the measurement program generation unit 11e acquires a template program corresponding to the measurement target and the selected measurement item, and matches the template program with the specific structure of the measurement target structure. Approach points, measurement points, and measurement paths can also be set.

In step S14, the measurement program generation unit 11e receives an input for correction by the user with respect to the source list of the measurement program displayed on the UI screen.
In step S15, the UI display control unit 11a determines whether the measurement program has been approved by the user. If the measurement program has not been approved by the user, the determination is NO in step S15, and the process proceeds to step S14. Transition.
On the other hand, if the measurement program is approved by the user, YES is determined in step S15, and the process proceeds to step S16.

In step S16, the measurement program execution unit 11f determines whether execution of the measurement program has been instructed.
When execution of the measurement program is instructed, YES is determined in step S16, and the process proceeds to step S17.
On the other hand, when execution of the measurement program has not been instructed, NO is determined in step S16, and the measurement program generation processing ends.
In step S17, the measurement program execution unit 11f executes the measurement program.
After step S17, the measurement program generation processing ends.

As described above, the work measuring device 1 according to the present embodiment accepts an operation for designating a measurement target by a user with respect to a work image. Then, in accordance with the designation by the user, a portion to be measured in the image of the work is specified, and a structure (three-dimensional shape) of the specified portion is detected. Further, an input of a measurement item for the detected structure is received, and a measurement point and an approach point corresponding to the measurement item and a measurement path including the measurement point and the approach point are automatically set.
Therefore, a measurement program for automatically measuring a work to be measured is automatically generated by performing an operation of designating a measurement target and an operation of inputting a measurement item in an image of the work to be measured.
Therefore, the work load required for measuring the work can be reduced.

Further, in the work measuring device 1, when the user inputs an operation surrounding the work image, an operation of inputting a straight line, an operation of specifying a point, and the like when specifying a measurement target for the image of the work, image processing is performed. Thereby, a portion to be measured in the image of the work is specified.
Therefore, the user can specify the measurement target by a simple operation.

Further, in the work measuring apparatus 1, a list of the measurement items for the detected structure is ranked and displayed based on the type, shape, processing status, processing program content, and past measurement history of the structure. You.
Thus, a measurement item that is highly likely to be executed can be presented to the user who selects the measurement item in an easily understandable form.

Further, in the workpiece measuring device 1, a template program corresponding to the detected structure (measurement target) and the selected measurement item is acquired, and the template program is converted into a specific structure of the structure to be measured. The combined measurement point and approach point are set.
This makes it possible to more easily generate a measurement program for automatically measuring a measurement target.

[Modification 1]
In the above-described embodiment, the case where the measurement target is specified by the user and the measurement item is input by the user has been described as an example.
On the other hand, when the work measuring apparatus 1 determines that the measurement program for the measurement target can be uniquely determined, the work measurement apparatus 1 can automatically generate the measurement program by omitting the specification of the measurement target and the input of the measurement item. .
In this case, the work measuring apparatus 1 automatically specifies the measurement target, the measurement item, and the like by the user in advance, and automatically selects the measurement item with the highest frequency from the measurement item candidates ranked based on the past measurement history. To determine whether the measurement program in the measurement target can be uniquely determined by detecting that the measurement program is set to be selectively selected and that the measurement program is limited to one type. Can be.
As a further modified example, the work measuring device 1 may be configured not to include the measurement target designation unit or the measurement item designation unit. In this case, the work measuring apparatus 1 automatically specifies, for example, a measurement target or a measurement item or the like, or automatically selects a measurement item with the highest frequency from measurement item candidates ranked based on past measurement history. The measurement program may be automatically generated, for example, by setting such that the measurement program is selected in advance, or the measurement program is determined in advance for each type of work.

[Modification 2]
When the same work is mass-produced, the measurement program and the work image created for the first work are stored, and the position and angle of the first work image with respect to the first work image are saved. The movement amount is calculated, the movement amount is added to the coordinate value of the measurement program created for the first work, and the program is modified, so that the user can specify the measurement target for the second and subsequent works. The operation for determining the measurement item may be skipped, and the measurement operation may be completely automated.

[Modification 3]
In the above-described embodiment, the description has been given on the assumption that the operation of designating the measurement target is received, and the input of the measurement item is received after the structure to be measured is detected.
On the other hand, after receiving an input of a measurement item, an operation of designating a measurement target may be received to detect a structure to be measured.
By doing so, the measurement target is limited by the designation of the measurement item, so that the structure to be measured can be more appropriately detected.

As described above, the present invention is not limited to the above-described embodiments and modified examples, and various changes and modifications can be made.
For example, in the above-described embodiment, the case where the detector 19 includes a touch probe, a laser sensor, or the like has been described as an example, but is not limited thereto. That is, various types of detectors can be used as long as the device can measure the position or shape of the work to be measured.

  In the above-described embodiment, the description has been made on the assumption that image data including a three-dimensional shape of the work is used as the image of the work to be measured. For example, by using other auxiliary information (such as a processing program) in combination with an image including the two-dimensional shape of the work, the three-dimensional shape of the work may be recognized as a whole of the information.

In the above-described embodiment, when the detector 19 is moved from the approach point to the measurement point, the detector 19 is moved at a high speed until a predetermined distance before the measurement point on the measurement path, and is moved at a low speed within a predetermined distance from the measurement point. May be used to move the detector 19.
Thereby, the work and the detector 19 can be more gently brought into contact with each other, and the measurement time can be reduced.

  All or a part of the functions of the work measuring device 1 of the embodiment described above can be realized by hardware, software, or a combination thereof. Here, being realized by software means being realized by a processor reading and executing a program. When configured by hardware, part or all of the functions of the work measuring apparatus 1 may be implemented, for example, by using an ASIC (Application Specific Integrated Circuit), a gate array, an FPGA (Field Programmable Gate Array), or a CPLD (Complex Programmable Electronic). It can be composed of an integrated circuit (IC).

  When all or a part of the function of the work measuring device 1 is configured by software, a storage unit such as a hard disk or a ROM, which stores a program describing all or a part of the operation of the work measuring device 1, and data necessary for calculation. Can be realized by storing information necessary for calculation in the DRAM and operating the program by the CPU in a computer configured with a DRAM, a CPU, and a bus that connects each unit.

These programs can be stored using various types of computer readable media and provided to a computer. Computer readable media includes tangible storage media of various types. Examples of the computer-readable medium include a magnetic recording medium (for example, a flexible disk, a magnetic tape, a hard disk drive), a magneto-optical recording medium (for example, a magneto-optical disk), a CD-ROM (Read Only Memory), a CD-R, and a CD-ROM. R / W, DVD-ROM (Digital Versatile Disk), DVD-R, DVD-R / W, semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash memory, RAM (Random Access) Memory)).
Further, these programs may be distributed by being downloaded to a user's computer via a network.

  As described above, the embodiments of the present invention have been described in detail. However, the above-described embodiments merely show specific examples for implementing the present invention. The technical scope of the present invention is not limited to the above embodiment. The present invention can be variously modified without departing from the spirit thereof, and these are also included in the technical scope of the present invention.

1 work measuring device 11 CPU
11a UI display control unit 11b Image acquisition unit 11c Measurement target acquisition unit 11d Measurement item setting unit 11e Measurement program generation unit 11f Measurement program execution unit 12 ROM
13 RAM
14 Input unit 15 Display unit 16 Storage unit 16a Measurement item database 16b Measurement history database 16c Model program database 17 Communication unit 18 Visual sensor 19 Detector

Claims (10)

A display unit for displaying an image of the work,
A measurement target designation unit that receives designation of a measurement target for the image of the workpiece,
A structure detection unit that detects a measurement target structure corresponding to the measurement target specified by the measurement target specification unit,
A measurement item designation unit that accepts designation of a measurement item for the image of the work,
Measurement for generating a measurement program in which a measurement point and an approach point corresponding to the measurement item specified by the measurement item specifying unit and a measurement path including the measurement point and the approach point are set for the measurement target structure. A program generator,
A workpiece measuring device comprising:   The workpiece measurement according to claim 1, further comprising a measurement path display unit that displays the measurement point and the approach point set in the measurement program and the measurement path including the measurement point and the approach point. apparatus.   3. The measurement program generation unit according to claim 2, wherein the measurement point and the approach point displayed by the measurement path display unit and a correction to the measurement path including the measurement point and the approach point are received. Work measuring device.   The method according to any one of claims 1 to 3, further comprising a measurement program execution unit that executes the measurement program by moving a detector along the measurement path set in the measurement program. The work measuring device as described.   The measurement program generation unit generates the measurement program by setting the measurement point and the approach point in accordance with the measurement target structure, for a model program corresponding to the type of the measurement target structure and the measurement item. The workpiece measuring device according to claim 1, wherein   The workpiece measuring apparatus according to claim 1, wherein the measurement item specifying unit ranks and displays measurement item candidates for the measurement target structure.   The work according to any one of claims 1 to 6, wherein the image of the work is at least one of a two-dimensional or three-dimensional captured image of the work and an image of CAD data of the work. Measuring device.   The workpiece measuring device according to any one of claims 1 to 7, wherein the detector includes at least one of a touch probe and a laser sensor. A display step of displaying an image of the workpiece;
A measurement target specifying step of receiving a specification of a measurement target for the image of the workpiece,
A structure detection step of detecting a measurement target structure corresponding to the measurement target specified in the measurement target specification step,
A measurement item designation step of receiving designation of a measurement item for the measurement target structure detected in the structure detection step,
Measurement for generating a measurement program in which a measurement point and an approach point corresponding to the measurement item specified in the measurement item specifying step and a measurement path including the measurement point and the approach point are set for the measurement target structure. A program generation step;
A workpiece measuring method comprising: On the computer,
A display control function for displaying a work image,
A measurement target designation function for receiving designation of a measurement target for the image of the workpiece,
A structure detection function for detecting a measurement target structure corresponding to the measurement target specified by the measurement target specification function,
A measurement item designation function for receiving designation of a measurement item for the measurement target structure detected by the structure detection function,
Measurement for generating a measurement program in which a measurement point and an approach point corresponding to the measurement item designated by the measurement item designation function and a measurement path including the measurement point and the approach point are set for the measurement target structure. Program generation function,
A program characterized by realizing.

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